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<div class="title">implicit_shape_model.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; </div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#ifndef PCL_IMPLICIT_SHAPE_MODEL_H_</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#define PCL_IMPLICIT_SHAPE_MODEL_H_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &lt;fstream&gt;</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;limits&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;Eigen/src/Core/Matrix.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_base.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/point_representation.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/features/feature.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/features/spin_image.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/voxel_grid.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/extract_indices.h&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;pcl/search/search.h&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;pcl/kdtree/kdtree.h&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#include &lt;pcl/kdtree/kdtree_flann.h&gt;</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#include &lt;pcl/kdtree/impl/kdtree_flann.hpp&gt;</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;{</div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="structpcl_1_1_i_s_m_peak.html">   58</a></span>&#160;  <span class="keyword">struct </span><a class="code" href="structpcl_1_1_i_s_m_peak.html">ISMPeak</a></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  {</div>
<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="structpcl_1_1_i_s_m_peak.html#a87e75521aaf4a362ce19670b41d65b3d">   61</a></span>&#160;    <a class="code" href="structpcl_1_1_i_s_m_peak.html#a87e75521aaf4a362ce19670b41d65b3d">PCL_ADD_POINT4D</a>;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="structpcl_1_1_i_s_m_peak.html#ab396d6f73ad331b39585bc37f481230b">   64</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structpcl_1_1_i_s_m_peak.html#ab396d6f73ad331b39585bc37f481230b">density</a>;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="structpcl_1_1_i_s_m_peak.html#ab5ade3a0df41fe9043dd86751a17dbf9">   67</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1_i_s_m_peak.html#ab5ade3a0df41fe9043dd86751a17dbf9">class_id</a>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  } EIGEN_ALIGN16;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keyword">namespace </span>features</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  {</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classpcl_1_1features_1_1_i_s_m_vote_list.html">   77</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1features_1_1_i_s_m_vote_list.html">ISMVoteList</a></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    {</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <a class="code" href="classpcl_1_1features_1_1_i_s_m_vote_list.html">ISMVoteList</a> ();</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <span class="keyword">virtual</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        ~<a class="code" href="classpcl_1_1features_1_1_i_s_m_vote_list.html">ISMVoteList</a> ();</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        addVote (<a class="code" href="structpcl_1_1_interest_point.html">pcl::InterestPoint</a>&amp; in_vote, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;vote_origin, <span class="keywordtype">int</span> in_class);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <span class="keyword">typename</span> pcl::PointCloud&lt;pcl::PointXYZRGB&gt;::Ptr</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        getColoredCloud (<span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::Ptr cloud = 0);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        findStrongestPeaks (std::vector&lt;<a class="code" href="structpcl_1_1_i_s_m_peak.html">ISMPeak</a>, Eigen::aligned_allocator&lt;ISMPeak&gt; &gt; &amp;out_peaks, <span class="keywordtype">int</span> in_class_id, <span class="keywordtype">double</span> in_non_maxima_radius, <span class="keywordtype">double</span> in_sigma);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <span class="keywordtype">double</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        getDensityAtPoint (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point, <span class="keywordtype">double</span> sigma_dist);</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        getNumberOfVotes ();</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        validateTree ();</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        Eigen::Vector3f</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        shiftMean (<span class="keyword">const</span> Eigen::Vector3f&amp; snapPt, <span class="keyword">const</span> <span class="keywordtype">double</span> in_dSigmaDist);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classpcl_1_1features_1_1_i_s_m_vote_list.html#aa5218ed40f67da06286a35f22cf9d9b3">  135</a></span>&#160;        pcl::PointCloud&lt;pcl::InterestPoint&gt;::Ptr <a class="code" href="classpcl_1_1features_1_1_i_s_m_vote_list.html#aa5218ed40f67da06286a35f22cf9d9b3">votes_</a>;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="classpcl_1_1features_1_1_i_s_m_vote_list.html#a1d5d255232e45072f9be2d61da82ca90">  138</a></span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1features_1_1_i_s_m_vote_list.html#a1d5d255232e45072f9be2d61da82ca90">tree_is_valid_</a>;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="classpcl_1_1features_1_1_i_s_m_vote_list.html#a70eb357949f48386d468e6abe140e23d">  141</a></span>&#160;        <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::Ptr <a class="code" href="classpcl_1_1features_1_1_i_s_m_vote_list.html#a70eb357949f48386d468e6abe140e23d">votes_origins_</a>;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="classpcl_1_1features_1_1_i_s_m_vote_list.html#a5ffef33d1b4f225fbd38833d55c18cb1">  144</a></span>&#160;        std::vector&lt;int&gt; <a class="code" href="classpcl_1_1features_1_1_i_s_m_vote_list.html#a5ffef33d1b4f225fbd38833d55c18cb1">votes_class_</a>;</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno"><a class="line" href="classpcl_1_1features_1_1_i_s_m_vote_list.html#a53a6809b8f7069b2f5a0a4f601f0059f">  147</a></span>&#160;        pcl::KdTreeFLANN&lt;pcl::InterestPoint&gt;::Ptr <a class="code" href="classpcl_1_1features_1_1_i_s_m_vote_list.html#a53a6809b8f7069b2f5a0a4f601f0059f">tree_</a>;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="classpcl_1_1features_1_1_i_s_m_vote_list.html#a0ddbc7ee40f769a5c94f755197fefccb">  150</a></span>&#160;        std::vector&lt;int&gt; <a class="code" href="classpcl_1_1features_1_1_i_s_m_vote_list.html#a0ddbc7ee40f769a5c94f755197fefccb">k_ind_</a>;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="classpcl_1_1features_1_1_i_s_m_vote_list.html#a3ddce2a6ca230560e4aa94d84816acb2">  153</a></span>&#160;        std::vector&lt;float&gt; <a class="code" href="classpcl_1_1features_1_1_i_s_m_vote_list.html#a3ddce2a6ca230560e4aa94d84816acb2">k_sqr_dist_</a>;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    };</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="structpcl_1_1features_1_1_i_s_m_model.html">  159</a></span>&#160;    <span class="keyword">struct </span>PCL_EXPORTS <a class="code" href="structpcl_1_1features_1_1_i_s_m_model.html">ISMModel</a></div>
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<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      <a class="code" href="structpcl_1_1features_1_1_i_s_m_model.html">ISMModel</a> ();</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      <a class="code" href="structpcl_1_1features_1_1_i_s_m_model.html">ISMModel</a> (<a class="code" href="structpcl_1_1features_1_1_i_s_m_model.html">ISMModel</a> <span class="keyword">const</span> &amp; copy);</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      <span class="keyword">virtual</span></div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      ~<a class="code" href="structpcl_1_1features_1_1_i_s_m_model.html">ISMModel</a> ();</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      <span class="keywordtype">bool</span></div>
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<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      loadModelFromfile (std::string&amp; file_name);</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      <span class="keywordtype">void</span></div>
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<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      <a class="code" href="structpcl_1_1features_1_1_i_s_m_model.html">ISMModel</a> &amp; operator = (<span class="keyword">const</span> <a class="code" href="structpcl_1_1features_1_1_i_s_m_model.html">ISMModel</a>&amp; other);</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="structpcl_1_1features_1_1_i_s_m_model.html#adb5f36818b76fbcb57e36e0ce876bda0">  191</a></span>&#160;      std::vector&lt;std::vector&lt;float&gt; &gt; <a class="code" href="structpcl_1_1features_1_1_i_s_m_model.html#adb5f36818b76fbcb57e36e0ce876bda0">statistical_weights_</a>;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="structpcl_1_1features_1_1_i_s_m_model.html#a8e515449f74b5e1b651ac1019e9be335">  194</a></span>&#160;      std::vector&lt;float&gt; <a class="code" href="structpcl_1_1features_1_1_i_s_m_model.html#a8e515449f74b5e1b651ac1019e9be335">learned_weights_</a>;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno"><a class="line" href="structpcl_1_1features_1_1_i_s_m_model.html#aab08d3d3c4df77ee8f86c77cd28b801e">  197</a></span>&#160;      std::vector&lt;unsigned int&gt; <a class="code" href="structpcl_1_1features_1_1_i_s_m_model.html#aab08d3d3c4df77ee8f86c77cd28b801e">classes_</a>;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="structpcl_1_1features_1_1_i_s_m_model.html#a8a2bbee7dcf135ce59b3d219c381cc94">  200</a></span>&#160;      std::vector&lt;float&gt; <a class="code" href="structpcl_1_1features_1_1_i_s_m_model.html#a8a2bbee7dcf135ce59b3d219c381cc94">sigmas_</a>;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno"><a class="line" href="structpcl_1_1features_1_1_i_s_m_model.html#ad4a191c684756c11afdbb49ad0f8c704">  203</a></span>&#160;      Eigen::MatrixXf <a class="code" href="structpcl_1_1features_1_1_i_s_m_model.html#ad4a191c684756c11afdbb49ad0f8c704">directions_to_center_</a>;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno"><a class="line" href="structpcl_1_1features_1_1_i_s_m_model.html#a57fea44012b62bb62e7e019331c1109e">  206</a></span>&#160;      Eigen::MatrixXf <a class="code" href="structpcl_1_1features_1_1_i_s_m_model.html#a57fea44012b62bb62e7e019331c1109e">clusters_centers_</a>;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="structpcl_1_1features_1_1_i_s_m_model.html#a9f6c1408a78d11f7d60299fb25673cbb">  209</a></span>&#160;      std::vector&lt;std::vector&lt;unsigned int&gt; &gt; <a class="code" href="structpcl_1_1features_1_1_i_s_m_model.html#a9f6c1408a78d11f7d60299fb25673cbb">clusters_</a>;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno"><a class="line" href="structpcl_1_1features_1_1_i_s_m_model.html#ad7a14d1495e3cf56f04b68d901622fa9">  212</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1features_1_1_i_s_m_model.html#ad7a14d1495e3cf56f04b68d901622fa9">number_of_classes_</a>;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno"><a class="line" href="structpcl_1_1features_1_1_i_s_m_model.html#ae35476b0343c107a91925e6e81e7818c">  215</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1features_1_1_i_s_m_model.html#ae35476b0343c107a91925e6e81e7818c">number_of_visual_words_</a>;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno"><a class="line" href="structpcl_1_1features_1_1_i_s_m_model.html#a0a607d64662e2f19fbe3a8d79234ead0">  218</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1features_1_1_i_s_m_model.html#a0a607d64662e2f19fbe3a8d79234ead0">number_of_clusters_</a>;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00221"></a><span class="lineno"><a class="line" href="structpcl_1_1features_1_1_i_s_m_model.html#a842174ec75a4ffeb634adef848e7dc40">  221</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1features_1_1_i_s_m_model.html#a842174ec75a4ffeb634adef848e7dc40">descriptors_dimension_</a>;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
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<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  <span class="keyword">namespace </span>ism</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  {</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> FeatureSize, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT = pcl::Normal&gt;</div>
<div class="line"><a name="l00241"></a><span class="lineno"><a class="line" href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html">  241</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html">ImplicitShapeModelEstimation</a></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    {</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160; </div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;pcl::features::ISMModel&gt; ISMModelPtr;</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno"><a class="line" href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_location_info.html">  250</a></span>&#160;        <span class="keyword">struct </span>PCL_EXPORTS <a class="code" href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_location_info.html">LocationInfo</a></div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;        {</div>
<div class="line"><a name="l00258"></a><span class="lineno"><a class="line" href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_location_info.html#a99b83de2981193d6ac8d68e91e55e96c">  258</a></span>&#160;          <a class="code" href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_location_info.html#a99b83de2981193d6ac8d68e91e55e96c">LocationInfo</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> model_num, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; dir_to_center, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; origin, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_normal.html">NormalT</a>&amp; normal) :</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;            model_num_ (model_num),</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;            dir_to_center_ (dir_to_center),</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;            point_ (origin),</div>
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<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00265"></a><span class="lineno"><a class="line" href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_location_info.html#a51db094dfefb6dfe4d1837a7551e0b02">  265</a></span>&#160;          <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_location_info.html#a51db094dfefb6dfe4d1837a7551e0b02">model_num_</a>;</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160; </div>
<div class="line"><a name="l00268"></a><span class="lineno"><a class="line" href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_location_info.html#ad27c41c034e87268095024697f6a2aa4">  268</a></span>&#160;          <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> <a class="code" href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_location_info.html#ad27c41c034e87268095024697f6a2aa4">dir_to_center_</a>;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno"><a class="line" href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_location_info.html#a939e527fa1800d1f058f2682f449161c">  271</a></span>&#160;          <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> <a class="code" href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_location_info.html#a939e527fa1800d1f058f2682f449161c">point_</a>;</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
<div class="line"><a name="l00274"></a><span class="lineno"><a class="line" href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_location_info.html#a5048ab641d7e2ce9110a80c972fa629c">  274</a></span>&#160;          <a class="code" href="structpcl_1_1_normal.html">NormalT</a> <a class="code" href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_location_info.html#a5048ab641d7e2ce9110a80c972fa629c">normal_</a>;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;        };</div>
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<div class="line"><a name="l00279"></a><span class="lineno"><a class="line" href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_t_c.html">  279</a></span>&#160;        <span class="keyword">typedef</span> <span class="keyword">struct </span>PCL_EXPORTS <a class="code" href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_t_c.html">TC</a></div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;        {</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;          <span class="keyword">enum</span></div>
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<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;          };</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; </div>
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<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;            max_count_ (max_count),</div>
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<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160; </div>
<div class="line"><a name="l00303"></a><span class="lineno"><a class="line" href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_t_c.html#a0d8d28702f28bd977f10f142c27ad25a">  303</a></span>&#160;          <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_t_c.html#a0d8d28702f28bd977f10f142c27ad25a">type_</a>;</div>
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<div class="line"><a name="l00306"></a><span class="lineno"><a class="line" href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_t_c.html#abeeaa2e50bce56d045bdb78f43111250">  306</a></span>&#160;          <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_t_c.html#abeeaa2e50bce56d045bdb78f43111250">max_count_</a>;</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160; </div>
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<div class="line"><a name="l00313"></a><span class="lineno"><a class="line" href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_visual_word_stat.html">  313</a></span>&#160;        <span class="keyword">struct </span>PCL_EXPORTS <a class="code" href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_visual_word_stat.html">VisualWordStat</a></div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;        {</div>
<div class="line"><a name="l00316"></a><span class="lineno"><a class="line" href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_visual_word_stat.html#a2c67cb9635d983587a8800d48b68dffe">  316</a></span>&#160;          <a class="code" href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_visual_word_stat.html#a2c67cb9635d983587a8800d48b68dffe">VisualWordStat</a> () :</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;            class_ (-1),</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;            learned_weight_ (0.0f),</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;            dir_to_center_ (0.0f, 0.0f, 0.0f) {};</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160; </div>
<div class="line"><a name="l00322"></a><span class="lineno"><a class="line" href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_visual_word_stat.html#a948064bbb5f3470bee396db267f5fbbe">  322</a></span>&#160;          <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_visual_word_stat.html#a948064bbb5f3470bee396db267f5fbbe">class_</a>;</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160; </div>
<div class="line"><a name="l00325"></a><span class="lineno"><a class="line" href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_visual_word_stat.html#a148a3fe65d6c71bcc4474a51b26529e5">  325</a></span>&#160;          <span class="keywordtype">float</span> <a class="code" href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_visual_word_stat.html#a148a3fe65d6c71bcc4474a51b26529e5">learned_weight_</a>;</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160; </div>
<div class="line"><a name="l00328"></a><span class="lineno"><a class="line" href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_visual_word_stat.html#a1364a6c6db23bc255122d2538271e0c3">  328</a></span>&#160;          <a class="code" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a> <a class="code" href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_visual_word_stat.html#a1364a6c6db23bc255122d2538271e0c3">dir_to_center_</a>;</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;        };</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160; </div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160; </div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;        <a class="code" href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html">ImplicitShapeModelEstimation</a> ();</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160; </div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;        <span class="keyword">virtual</span></div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;        ~<a class="code" href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html">ImplicitShapeModelEstimation</a> ();</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160; </div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;        std::vector&lt;typename pcl::PointCloud&lt;PointT&gt;::Ptr&gt;</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;        getTrainingClouds ();</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160; </div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;        setTrainingClouds (<span class="keyword">const</span> std::vector&lt; <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::Ptr &gt;&amp; training_clouds);</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160; </div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;        std::vector&lt;unsigned int&gt;</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;        getTrainingClasses ();</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160; </div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;        setTrainingClasses (<span class="keyword">const</span> std::vector&lt;unsigned int&gt;&amp; training_classes);</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160; </div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;        std::vector&lt;typename pcl::PointCloud&lt;NormalT&gt;::Ptr&gt;</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;        getTrainingNormals ();</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160; </div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;        setTrainingNormals (<span class="keyword">const</span> std::vector&lt; <span class="keyword">typename</span> pcl::PointCloud&lt;NormalT&gt;::Ptr &gt;&amp; training_normals);</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160; </div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;        <span class="keywordtype">float</span></div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;        getSamplingSize ();</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160; </div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;        setSamplingSize (<span class="keywordtype">float</span> sampling_size);</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160; </div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;        boost::shared_ptr&lt;pcl::Feature&lt;PointT, pcl::Histogram&lt;FeatureSize&gt; &gt; &gt;</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;        getFeatureEstimator ();</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160; </div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;        setFeatureEstimator (boost::shared_ptr&lt;<a class="code" href="classpcl_1_1_feature.html">pcl::Feature</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, <a class="code" href="structpcl_1_1_histogram.html">pcl::Histogram&lt;FeatureSize&gt;</a> &gt; &gt; feature);</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160; </div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;        getNumberOfClusters ();</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160; </div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;        setNumberOfClusters (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> num_of_clusters);</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160; </div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;        std::vector&lt;float&gt;</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;        getSigmaDists ();</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160; </div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;        setSigmaDists (<span class="keyword">const</span> std::vector&lt;float&gt;&amp; training_sigmas);</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160; </div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;        getNVotState ();</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160; </div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;        setNVotState (<span class="keywordtype">bool</span> state);</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160; </div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;        trainISM (ISMModelPtr&amp; trained_model);</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160; </div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;        boost::shared_ptr&lt;pcl::features::ISMVoteList&lt;PointT&gt; &gt;</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;        findObjects (ISMModelPtr model, <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::Ptr in_cloud, <span class="keyword">typename</span> pcl::PointCloud&lt;Normal&gt;::Ptr in_normals, <span class="keywordtype">int</span> in_class_of_interest);</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160; </div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160; </div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;        extractDescriptors (std::vector&lt;<a class="code" href="structpcl_1_1_histogram.html">pcl::Histogram&lt;FeatureSize&gt;</a> &gt;&amp; histograms,</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;                            std::vector&lt;<a class="code" href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_location_info.html">LocationInfo</a>, Eigen::aligned_allocator&lt;LocationInfo&gt; &gt;&amp; locations);</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160; </div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;        clusterDescriptors (std::vector&lt; <a class="code" href="structpcl_1_1_histogram.html">pcl::Histogram&lt;FeatureSize&gt;</a> &gt;&amp; histograms, Eigen::MatrixXi&amp; labels, Eigen::MatrixXf&amp; clusters_centers);</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160; </div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;        calculateSigmas (std::vector&lt;float&gt;&amp; sigmas);</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160; </div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;        calculateWeights (<span class="keyword">const</span> std::vector&lt; <a class="code" href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_location_info.html">LocationInfo</a>, Eigen::aligned_allocator&lt;LocationInfo&gt; &gt;&amp; locations,</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;                          <span class="keyword">const</span> Eigen::MatrixXi &amp;labels,</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;                          std::vector&lt;float&gt;&amp; sigmas,</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;                          std::vector&lt;std::vector&lt;unsigned int&gt; &gt;&amp; clusters,</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;                          std::vector&lt;std::vector&lt;float&gt; &gt;&amp; statistical_weights,</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;                          std::vector&lt;float&gt;&amp; learned_weights);</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160; </div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;        simplifyCloud (<span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr in_point_cloud,</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;                       <span class="keyword">typename</span> pcl::PointCloud&lt;NormalT&gt;::ConstPtr in_normal_cloud,</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;                       <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::Ptr out_sampled_point_cloud,</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;                       <span class="keyword">typename</span> pcl::PointCloud&lt;NormalT&gt;::Ptr out_sampled_normal_cloud);</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160; </div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;        shiftCloud (<span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::Ptr in_cloud, Eigen::Vector3f shift_point);</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160; </div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;        Eigen::Matrix3f</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;        alignYCoordWithNormal (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_normal.html">NormalT</a>&amp; in_normal);</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160; </div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;        applyTransform (Eigen::Vector3f&amp; io_vec, <span class="keyword">const</span> Eigen::Matrix3f&amp; in_transform);</div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160; </div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;        estimateFeatures (<span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::Ptr sampled_point_cloud,</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;                          <span class="keyword">typename</span> pcl::PointCloud&lt;NormalT&gt;::Ptr normal_cloud,</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;                          <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt;<a class="code" href="structpcl_1_1_histogram.html">pcl::Histogram&lt;FeatureSize&gt;</a> &gt;::Ptr feature_cloud);</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160; </div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;        <span class="keywordtype">double</span></div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;        computeKMeansClustering (<span class="keyword">const</span> Eigen::MatrixXf&amp; points_to_cluster,</div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;                                 <span class="keywordtype">int</span> number_of_clusters,</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;                                 Eigen::MatrixXi&amp; io_labels,</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;                                 <a class="code" href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html#a2110e36af289f3b172a1aecff09e300c">TermCriteria</a> criteria,</div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;                                 <span class="keywordtype">int</span> attempts,</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;                                 <span class="keywordtype">int</span> flags,</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;                                 Eigen::MatrixXf&amp; cluster_centers);</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160; </div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;        generateCentersPP (<span class="keyword">const</span> Eigen::MatrixXf&amp; data,</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;                           Eigen::MatrixXf&amp; out_centers,</div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;                           <span class="keywordtype">int</span> number_of_clusters,</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;                           <span class="keywordtype">int</span> trials);</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160; </div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;        generateRandomCenter (<span class="keyword">const</span> std::vector&lt;Eigen::Vector2f, Eigen::aligned_allocator&lt;Eigen::Vector2f&gt; &gt;&amp; boxes, Eigen::VectorXf&amp; center);</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160; </div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;        <span class="keywordtype">float</span></div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;        computeDistance (Eigen::VectorXf&amp; vec_1, Eigen::VectorXf&amp; vec_2);</div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160; </div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;        <a class="code" href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html">ImplicitShapeModelEstimation</a>&amp;</div>
<div class="line"><a name="l00579"></a><span class="lineno"><a class="line" href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html#a28998d39a77ee1428add8d117ffa73eb">  579</a></span>&#160;        operator= (<span class="keyword">const</span> <a class="code" href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html">ImplicitShapeModelEstimation</a>&amp;);</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160; </div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160; </div>
<div class="line"><a name="l00584"></a><span class="lineno"><a class="line" href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html#ae649a1601f3d60f929d41782e9733bea">  584</a></span>&#160;        std::vector&lt;typename pcl::PointCloud&lt;PointT&gt;::Ptr&gt; <a class="code" href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html#ae649a1601f3d60f929d41782e9733bea">training_clouds_</a>;</div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160; </div>
<div class="line"><a name="l00587"></a><span class="lineno"><a class="line" href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html#a5bea2020d8fbe1a7a824eb57eed5a31e">  587</a></span>&#160;        std::vector&lt;unsigned int&gt; <a class="code" href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html#a5bea2020d8fbe1a7a824eb57eed5a31e">training_classes_</a>;</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160; </div>
<div class="line"><a name="l00590"></a><span class="lineno"><a class="line" href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html#a7145a95483ee85c15fb36bf0c34a4861">  590</a></span>&#160;        std::vector&lt;typename pcl::PointCloud&lt;NormalT&gt;::Ptr&gt; <a class="code" href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html#a7145a95483ee85c15fb36bf0c34a4861">training_normals_</a>;</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160; </div>
<div class="line"><a name="l00595"></a><span class="lineno"><a class="line" href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html#ae02a68f40df9efa2b38bb4acc6b58f20">  595</a></span>&#160;        std::vector&lt;float&gt; <a class="code" href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html#ae02a68f40df9efa2b38bb4acc6b58f20">training_sigmas_</a>;</div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160; </div>
<div class="line"><a name="l00598"></a><span class="lineno"><a class="line" href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html#adf847cb3c880ca5d2dc5f71d60a0d725">  598</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html#adf847cb3c880ca5d2dc5f71d60a0d725">sampling_size_</a>;</div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160; </div>
<div class="line"><a name="l00601"></a><span class="lineno"><a class="line" href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html#a59c6f181873500f38df1d7eab07a67cb">  601</a></span>&#160;        boost::shared_ptr&lt;pcl::Feature&lt;PointT, pcl::Histogram&lt;FeatureSize&gt; &gt; &gt; <a class="code" href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html#a59c6f181873500f38df1d7eab07a67cb">feature_estimator_</a>;</div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160; </div>
<div class="line"><a name="l00604"></a><span class="lineno"><a class="line" href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html#ab74fef9c7fed6a762448dd89f9210e12">  604</a></span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html#ab74fef9c7fed6a762448dd89f9210e12">number_of_clusters_</a>;</div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160; </div>
<div class="line"><a name="l00607"></a><span class="lineno"><a class="line" href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html#aaf6529639183fac2a343afad1329c389">  607</a></span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html#aaf6529639183fac2a343afad1329c389">n_vot_ON_</a>;</div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160; </div>
<div class="line"><a name="l00612"></a><span class="lineno"><a class="line" href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html#a95927f44e0c0364766cd4fc0ceace646">  612</a></span>&#160;        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PP_CENTERS = 2;</div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160; </div>
<div class="line"><a name="l00616"></a><span class="lineno"><a class="line" href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html#ad32395d4f6b46da4433911b29045b5b5">  616</a></span>&#160;        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> USE_INITIAL_LABELS = 1;</div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;    };</div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;  }</div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;}</div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160; </div>
<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;POINT_CLOUD_REGISTER_POINT_STRUCT (<a class="code" href="structpcl_1_1_i_s_m_peak.html">pcl::ISMPeak</a>,</div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;  (<span class="keywordtype">float</span>, x, x)</div>
<div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;  (<span class="keywordtype">float</span>, y, y)</div>
<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;  (<span class="keywordtype">float</span>, z, z)</div>
<div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;  (<span class="keywordtype">float</span>, density, ism_density)</div>
<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;  (<span class="keywordtype">float</span>, class_id, ism_class_id)</div>
<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;)</div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160; </div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_IMPLICIT_SHAPE_MODEL_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_feature_html"><div class="ttname"><a href="classpcl_1_1_feature.html">pcl::Feature</a></div><div class="ttdoc">Feature represents the base feature class. Some generic 3D operations that are applicable to all feat...</div><div class="ttdef"><b>Definition:</b> feature.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1features_1_1_i_s_m_vote_list_html"><div class="ttname"><a href="classpcl_1_1features_1_1_i_s_m_vote_list.html">pcl::features::ISMVoteList</a></div><div class="ttdoc">This class is used for storing, analyzing and manipulating votes obtained from ISM algorithm.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:78</div></div>
<div class="ttc" id="aclasspcl_1_1features_1_1_i_s_m_vote_list_html_a0ddbc7ee40f769a5c94f755197fefccb"><div class="ttname"><a href="classpcl_1_1features_1_1_i_s_m_vote_list.html#a0ddbc7ee40f769a5c94f755197fefccb">pcl::features::ISMVoteList::k_ind_</a></div><div class="ttdeci">std::vector&lt; int &gt; k_ind_</div><div class="ttdoc">Stores neighbours indices.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1features_1_1_i_s_m_vote_list_html_a1d5d255232e45072f9be2d61da82ca90"><div class="ttname"><a href="classpcl_1_1features_1_1_i_s_m_vote_list.html#a1d5d255232e45072f9be2d61da82ca90">pcl::features::ISMVoteList::tree_is_valid_</a></div><div class="ttdeci">bool tree_is_valid_</div><div class="ttdoc">Signalizes if the tree is valid.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:138</div></div>
<div class="ttc" id="aclasspcl_1_1features_1_1_i_s_m_vote_list_html_a3ddce2a6ca230560e4aa94d84816acb2"><div class="ttname"><a href="classpcl_1_1features_1_1_i_s_m_vote_list.html#a3ddce2a6ca230560e4aa94d84816acb2">pcl::features::ISMVoteList::k_sqr_dist_</a></div><div class="ttdeci">std::vector&lt; float &gt; k_sqr_dist_</div><div class="ttdoc">Stores square distances to the corresponding neighbours.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:153</div></div>
<div class="ttc" id="aclasspcl_1_1features_1_1_i_s_m_vote_list_html_a53a6809b8f7069b2f5a0a4f601f0059f"><div class="ttname"><a href="classpcl_1_1features_1_1_i_s_m_vote_list.html#a53a6809b8f7069b2f5a0a4f601f0059f">pcl::features::ISMVoteList::tree_</a></div><div class="ttdeci">pcl::KdTreeFLANN&lt; pcl::InterestPoint &gt;::Ptr tree_</div><div class="ttdoc">Stores the search tree.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:147</div></div>
<div class="ttc" id="aclasspcl_1_1features_1_1_i_s_m_vote_list_html_a5ffef33d1b4f225fbd38833d55c18cb1"><div class="ttname"><a href="classpcl_1_1features_1_1_i_s_m_vote_list.html#a5ffef33d1b4f225fbd38833d55c18cb1">pcl::features::ISMVoteList::votes_class_</a></div><div class="ttdeci">std::vector&lt; int &gt; votes_class_</div><div class="ttdoc">Stores classes for which every single vote was cast.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:144</div></div>
<div class="ttc" id="aclasspcl_1_1features_1_1_i_s_m_vote_list_html_a70eb357949f48386d468e6abe140e23d"><div class="ttname"><a href="classpcl_1_1features_1_1_i_s_m_vote_list.html#a70eb357949f48386d468e6abe140e23d">pcl::features::ISMVoteList::votes_origins_</a></div><div class="ttdeci">pcl::PointCloud&lt; PointT &gt;::Ptr votes_origins_</div><div class="ttdoc">Stores the origins of the votes.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:141</div></div>
<div class="ttc" id="aclasspcl_1_1features_1_1_i_s_m_vote_list_html_aa5218ed40f67da06286a35f22cf9d9b3"><div class="ttname"><a href="classpcl_1_1features_1_1_i_s_m_vote_list.html#aa5218ed40f67da06286a35f22cf9d9b3">pcl::features::ISMVoteList::votes_</a></div><div class="ttdeci">pcl::PointCloud&lt; pcl::InterestPoint &gt;::Ptr votes_</div><div class="ttdoc">Stores all votes.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:135</div></div>
<div class="ttc" id="aclasspcl_1_1ism_1_1_implicit_shape_model_estimation_html"><div class="ttname"><a href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html">pcl::ism::ImplicitShapeModelEstimation</a></div><div class="ttdoc">This class implements Implicit Shape Model algorithm described in &quot;Hough Transforms and 3D SURF for r...</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:242</div></div>
<div class="ttc" id="aclasspcl_1_1ism_1_1_implicit_shape_model_estimation_html_a2110e36af289f3b172a1aecff09e300c"><div class="ttname"><a href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html#a2110e36af289f3b172a1aecff09e300c">pcl::ism::ImplicitShapeModelEstimation::TermCriteria</a></div><div class="ttdeci">struct PCL_EXPORTS pcl::ism::ImplicitShapeModelEstimation::TC TermCriteria</div><div class="ttdoc">This structure is used for determining the end of the k-means clustering process.</div></div>
<div class="ttc" id="aclasspcl_1_1ism_1_1_implicit_shape_model_estimation_html_a59c6f181873500f38df1d7eab07a67cb"><div class="ttname"><a href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html#a59c6f181873500f38df1d7eab07a67cb">pcl::ism::ImplicitShapeModelEstimation::feature_estimator_</a></div><div class="ttdeci">boost::shared_ptr&lt; pcl::Feature&lt; PointT, pcl::Histogram&lt; FeatureSize &gt; &gt; &gt; feature_estimator_</div><div class="ttdoc">Stores the feature estimator.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:601</div></div>
<div class="ttc" id="aclasspcl_1_1ism_1_1_implicit_shape_model_estimation_html_a5bea2020d8fbe1a7a824eb57eed5a31e"><div class="ttname"><a href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html#a5bea2020d8fbe1a7a824eb57eed5a31e">pcl::ism::ImplicitShapeModelEstimation::training_classes_</a></div><div class="ttdeci">std::vector&lt; unsigned int &gt; training_classes_</div><div class="ttdoc">Stores the class number for each cloud from training_clouds_.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:587</div></div>
<div class="ttc" id="aclasspcl_1_1ism_1_1_implicit_shape_model_estimation_html_a7145a95483ee85c15fb36bf0c34a4861"><div class="ttname"><a href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html#a7145a95483ee85c15fb36bf0c34a4861">pcl::ism::ImplicitShapeModelEstimation::training_normals_</a></div><div class="ttdeci">std::vector&lt; typename pcl::PointCloud&lt; NormalT &gt;::Ptr &gt; training_normals_</div><div class="ttdoc">Stores the normals for each training cloud.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:590</div></div>
<div class="ttc" id="aclasspcl_1_1ism_1_1_implicit_shape_model_estimation_html_aaf6529639183fac2a343afad1329c389"><div class="ttname"><a href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html#aaf6529639183fac2a343afad1329c389">pcl::ism::ImplicitShapeModelEstimation::n_vot_ON_</a></div><div class="ttdeci">bool n_vot_ON_</div><div class="ttdoc">If set to false then Nvot coeff from [Knopp et al., 2010, (4)] is equal 1.0.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:607</div></div>
<div class="ttc" id="aclasspcl_1_1ism_1_1_implicit_shape_model_estimation_html_ab74fef9c7fed6a762448dd89f9210e12"><div class="ttname"><a href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html#ab74fef9c7fed6a762448dd89f9210e12">pcl::ism::ImplicitShapeModelEstimation::number_of_clusters_</a></div><div class="ttdeci">unsigned int number_of_clusters_</div><div class="ttdoc">Number of clusters, is used for clustering descriptors during the training.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:604</div></div>
<div class="ttc" id="aclasspcl_1_1ism_1_1_implicit_shape_model_estimation_html_adf847cb3c880ca5d2dc5f71d60a0d725"><div class="ttname"><a href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html#adf847cb3c880ca5d2dc5f71d60a0d725">pcl::ism::ImplicitShapeModelEstimation::sampling_size_</a></div><div class="ttdeci">float sampling_size_</div><div class="ttdoc">This value is used for the simplification. It sets the size of grid bin.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:598</div></div>
<div class="ttc" id="aclasspcl_1_1ism_1_1_implicit_shape_model_estimation_html_ae02a68f40df9efa2b38bb4acc6b58f20"><div class="ttname"><a href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html#ae02a68f40df9efa2b38bb4acc6b58f20">pcl::ism::ImplicitShapeModelEstimation::training_sigmas_</a></div><div class="ttdeci">std::vector&lt; float &gt; training_sigmas_</div><div class="ttdoc">This array stores the sigma values for each training class. If this array has a size equals 0,...</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:595</div></div>
<div class="ttc" id="aclasspcl_1_1ism_1_1_implicit_shape_model_estimation_html_ae649a1601f3d60f929d41782e9733bea"><div class="ttname"><a href="classpcl_1_1ism_1_1_implicit_shape_model_estimation.html#ae649a1601f3d60f929d41782e9733bea">pcl::ism::ImplicitShapeModelEstimation::training_clouds_</a></div><div class="ttdeci">std::vector&lt; typename pcl::PointCloud&lt; PointT &gt;::Ptr &gt; training_clouds_</div><div class="ttdoc">Stores the clouds used for training.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:584</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_histogram_html"><div class="ttname"><a href="structpcl_1_1_histogram.html">pcl::Histogram</a></div><div class="ttdoc">A point structure representing an N-D histogram.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:1475</div></div>
<div class="ttc" id="astructpcl_1_1_i_s_m_peak_html"><div class="ttname"><a href="structpcl_1_1_i_s_m_peak.html">pcl::ISMPeak</a></div><div class="ttdoc">This struct is used for storing peak.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:59</div></div>
<div class="ttc" id="astructpcl_1_1_i_s_m_peak_html_a87e75521aaf4a362ce19670b41d65b3d"><div class="ttname"><a href="structpcl_1_1_i_s_m_peak.html#a87e75521aaf4a362ce19670b41d65b3d">pcl::ISMPeak::PCL_ADD_POINT4D</a></div><div class="ttdeci">PCL_ADD_POINT4D</div><div class="ttdoc">Point were this peak is located.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:61</div></div>
<div class="ttc" id="astructpcl_1_1_i_s_m_peak_html_ab396d6f73ad331b39585bc37f481230b"><div class="ttname"><a href="structpcl_1_1_i_s_m_peak.html#ab396d6f73ad331b39585bc37f481230b">pcl::ISMPeak::density</a></div><div class="ttdeci">double density</div><div class="ttdoc">Density of this peak.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:64</div></div>
<div class="ttc" id="astructpcl_1_1_i_s_m_peak_html_ab5ade3a0df41fe9043dd86751a17dbf9"><div class="ttname"><a href="structpcl_1_1_i_s_m_peak.html#ab5ade3a0df41fe9043dd86751a17dbf9">pcl::ISMPeak::class_id</a></div><div class="ttdeci">int class_id</div><div class="ttdoc">Determines which class this peak belongs.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:67</div></div>
<div class="ttc" id="astructpcl_1_1_interest_point_html"><div class="ttname"><a href="structpcl_1_1_interest_point.html">pcl::InterestPoint</a></div><div class="ttdoc">A point structure representing an interest point with Euclidean xyz coordinates, and an interest valu...</div><div class="ttdef"><b>Definition:</b> point_types.hpp:745</div></div>
<div class="ttc" id="astructpcl_1_1_normal_html"><div class="ttname"><a href="structpcl_1_1_normal.html">pcl::Normal</a></div><div class="ttdoc">A point structure representing normal coordinates and the surface curvature estimate....</div><div class="ttdef"><b>Definition:</b> point_types.hpp:779</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates. (SSE friendly)</div><div class="ttdef"><b>Definition:</b> point_types.hpp:282</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1features_1_1_i_s_m_model_html"><div class="ttname"><a href="structpcl_1_1features_1_1_i_s_m_model.html">pcl::features::ISMModel</a></div><div class="ttdoc">The assignment of this structure is to store the statistical/learned weights and other information of...</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:160</div></div>
<div class="ttc" id="astructpcl_1_1features_1_1_i_s_m_model_html_a0a607d64662e2f19fbe3a8d79234ead0"><div class="ttname"><a href="structpcl_1_1features_1_1_i_s_m_model.html#a0a607d64662e2f19fbe3a8d79234ead0">pcl::features::ISMModel::number_of_clusters_</a></div><div class="ttdeci">unsigned int number_of_clusters_</div><div class="ttdoc">Stores the number of clusters.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:218</div></div>
<div class="ttc" id="astructpcl_1_1features_1_1_i_s_m_model_html_a57fea44012b62bb62e7e019331c1109e"><div class="ttname"><a href="structpcl_1_1features_1_1_i_s_m_model.html#a57fea44012b62bb62e7e019331c1109e">pcl::features::ISMModel::clusters_centers_</a></div><div class="ttdeci">Eigen::MatrixXf clusters_centers_</div><div class="ttdoc">Stores the centers of the clusters that were obtained during the visual words clusterization.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:206</div></div>
<div class="ttc" id="astructpcl_1_1features_1_1_i_s_m_model_html_a842174ec75a4ffeb634adef848e7dc40"><div class="ttname"><a href="structpcl_1_1features_1_1_i_s_m_model.html#a842174ec75a4ffeb634adef848e7dc40">pcl::features::ISMModel::descriptors_dimension_</a></div><div class="ttdeci">unsigned int descriptors_dimension_</div><div class="ttdoc">Stores descriptors dimension.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:221</div></div>
<div class="ttc" id="astructpcl_1_1features_1_1_i_s_m_model_html_a8a2bbee7dcf135ce59b3d219c381cc94"><div class="ttname"><a href="structpcl_1_1features_1_1_i_s_m_model.html#a8a2bbee7dcf135ce59b3d219c381cc94">pcl::features::ISMModel::sigmas_</a></div><div class="ttdeci">std::vector&lt; float &gt; sigmas_</div><div class="ttdoc">Stores the sigma value for each class. This values were used to compute the learned weights.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:200</div></div>
<div class="ttc" id="astructpcl_1_1features_1_1_i_s_m_model_html_a8e515449f74b5e1b651ac1019e9be335"><div class="ttname"><a href="structpcl_1_1features_1_1_i_s_m_model.html#a8e515449f74b5e1b651ac1019e9be335">pcl::features::ISMModel::learned_weights_</a></div><div class="ttdeci">std::vector&lt; float &gt; learned_weights_</div><div class="ttdoc">Stores learned weights.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:194</div></div>
<div class="ttc" id="astructpcl_1_1features_1_1_i_s_m_model_html_a9f6c1408a78d11f7d60299fb25673cbb"><div class="ttname"><a href="structpcl_1_1features_1_1_i_s_m_model.html#a9f6c1408a78d11f7d60299fb25673cbb">pcl::features::ISMModel::clusters_</a></div><div class="ttdeci">std::vector&lt; std::vector&lt; unsigned int &gt; &gt; clusters_</div><div class="ttdoc">This is an array of clusters. Each cluster stores the indices of the visual words that it contains.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:209</div></div>
<div class="ttc" id="astructpcl_1_1features_1_1_i_s_m_model_html_aab08d3d3c4df77ee8f86c77cd28b801e"><div class="ttname"><a href="structpcl_1_1features_1_1_i_s_m_model.html#aab08d3d3c4df77ee8f86c77cd28b801e">pcl::features::ISMModel::classes_</a></div><div class="ttdeci">std::vector&lt; unsigned int &gt; classes_</div><div class="ttdoc">Stores the class label for every direction.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:197</div></div>
<div class="ttc" id="astructpcl_1_1features_1_1_i_s_m_model_html_ad4a191c684756c11afdbb49ad0f8c704"><div class="ttname"><a href="structpcl_1_1features_1_1_i_s_m_model.html#ad4a191c684756c11afdbb49ad0f8c704">pcl::features::ISMModel::directions_to_center_</a></div><div class="ttdeci">Eigen::MatrixXf directions_to_center_</div><div class="ttdoc">Stores the directions to objects center for each visual word.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:203</div></div>
<div class="ttc" id="astructpcl_1_1features_1_1_i_s_m_model_html_ad7a14d1495e3cf56f04b68d901622fa9"><div class="ttname"><a href="structpcl_1_1features_1_1_i_s_m_model.html#ad7a14d1495e3cf56f04b68d901622fa9">pcl::features::ISMModel::number_of_classes_</a></div><div class="ttdeci">unsigned int number_of_classes_</div><div class="ttdoc">Stores the number of classes.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:212</div></div>
<div class="ttc" id="astructpcl_1_1features_1_1_i_s_m_model_html_adb5f36818b76fbcb57e36e0ce876bda0"><div class="ttname"><a href="structpcl_1_1features_1_1_i_s_m_model.html#adb5f36818b76fbcb57e36e0ce876bda0">pcl::features::ISMModel::statistical_weights_</a></div><div class="ttdeci">std::vector&lt; std::vector&lt; float &gt; &gt; statistical_weights_</div><div class="ttdoc">Stores statistical weights.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:191</div></div>
<div class="ttc" id="astructpcl_1_1features_1_1_i_s_m_model_html_ae35476b0343c107a91925e6e81e7818c"><div class="ttname"><a href="structpcl_1_1features_1_1_i_s_m_model.html#ae35476b0343c107a91925e6e81e7818c">pcl::features::ISMModel::number_of_visual_words_</a></div><div class="ttdeci">unsigned int number_of_visual_words_</div><div class="ttdoc">Stores the number of visual words.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:215</div></div>
<div class="ttc" id="astructpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_location_info_html"><div class="ttname"><a href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_location_info.html">pcl::ism::ImplicitShapeModelEstimation::LocationInfo</a></div><div class="ttdoc">This structure stores the information about the keypoint.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:251</div></div>
<div class="ttc" id="astructpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_location_info_html_a5048ab641d7e2ce9110a80c972fa629c"><div class="ttname"><a href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_location_info.html#a5048ab641d7e2ce9110a80c972fa629c">pcl::ism::ImplicitShapeModelEstimation::LocationInfo::normal_</a></div><div class="ttdeci">NormalT normal_</div><div class="ttdoc">Stores the normal of the initial point.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:274</div></div>
<div class="ttc" id="astructpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_location_info_html_a51db094dfefb6dfe4d1837a7551e0b02"><div class="ttname"><a href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_location_info.html#a51db094dfefb6dfe4d1837a7551e0b02">pcl::ism::ImplicitShapeModelEstimation::LocationInfo::model_num_</a></div><div class="ttdeci">unsigned int model_num_</div><div class="ttdoc">Tells from which training model this keypoint was extracted.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:262</div></div>
<div class="ttc" id="astructpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_location_info_html_a939e527fa1800d1f058f2682f449161c"><div class="ttname"><a href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_location_info.html#a939e527fa1800d1f058f2682f449161c">pcl::ism::ImplicitShapeModelEstimation::LocationInfo::point_</a></div><div class="ttdeci">PointT point_</div><div class="ttdoc">Stores the initial point.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:271</div></div>
<div class="ttc" id="astructpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_location_info_html_a99b83de2981193d6ac8d68e91e55e96c"><div class="ttname"><a href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_location_info.html#a99b83de2981193d6ac8d68e91e55e96c">pcl::ism::ImplicitShapeModelEstimation::LocationInfo::LocationInfo</a></div><div class="ttdeci">LocationInfo(unsigned int model_num, const PointT &amp;dir_to_center, const PointT &amp;origin, const NormalT &amp;normal)</div><div class="ttdoc">Location info constructor.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:258</div></div>
<div class="ttc" id="astructpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_location_info_html_ad27c41c034e87268095024697f6a2aa4"><div class="ttname"><a href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_location_info.html#ad27c41c034e87268095024697f6a2aa4">pcl::ism::ImplicitShapeModelEstimation::LocationInfo::dir_to_center_</a></div><div class="ttdeci">PointT dir_to_center_</div><div class="ttdoc">Expected direction to center for this keypoint.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:268</div></div>
<div class="ttc" id="astructpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_t_c_html"><div class="ttname"><a href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_t_c.html">pcl::ism::ImplicitShapeModelEstimation::TC</a></div><div class="ttdoc">This structure is used for determining the end of the k-means clustering process.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:280</div></div>
<div class="ttc" id="astructpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_t_c_html_a0d8d28702f28bd977f10f142c27ad25a"><div class="ttname"><a href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_t_c.html#a0d8d28702f28bd977f10f142c27ad25a">pcl::ism::ImplicitShapeModelEstimation::TC::type_</a></div><div class="ttdeci">int type_</div><div class="ttdoc">Flag that determines when the k-means clustering must be stopped. If type_ equals COUNT then it must ...</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:295</div></div>
<div class="ttc" id="astructpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_t_c_html_a43b18d66f16d1075c762fa2a29007f14"><div class="ttname"><a href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_t_c.html#a43b18d66f16d1075c762fa2a29007f14">pcl::ism::ImplicitShapeModelEstimation::TC::TC</a></div><div class="ttdeci">TC(int type, int max_count, float epsilon)</div><div class="ttdoc">Termination criteria constructor.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:292</div></div>
<div class="ttc" id="astructpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_t_c_html_a6d1ca48170362af7b4f563067584769b"><div class="ttname"><a href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_t_c.html#a6d1ca48170362af7b4f563067584769b">pcl::ism::ImplicitShapeModelEstimation::TC::epsilon_</a></div><div class="ttdeci">float epsilon_</div><div class="ttdoc">Defines the accuracy for k-means clustering.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:309</div></div>
<div class="ttc" id="astructpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_t_c_html_abeeaa2e50bce56d045bdb78f43111250"><div class="ttname"><a href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_t_c.html#abeeaa2e50bce56d045bdb78f43111250">pcl::ism::ImplicitShapeModelEstimation::TC::max_count_</a></div><div class="ttdeci">int max_count_</div><div class="ttdoc">Defines maximum number of iterations for k-means clustering.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:306</div></div>
<div class="ttc" id="astructpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_visual_word_stat_html"><div class="ttname"><a href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_visual_word_stat.html">pcl::ism::ImplicitShapeModelEstimation::VisualWordStat</a></div><div class="ttdoc">Structure for storing the visual word.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:314</div></div>
<div class="ttc" id="astructpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_visual_word_stat_html_a1364a6c6db23bc255122d2538271e0c3"><div class="ttname"><a href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_visual_word_stat.html#a1364a6c6db23bc255122d2538271e0c3">pcl::ism::ImplicitShapeModelEstimation::VisualWordStat::dir_to_center_</a></div><div class="ttdeci">pcl::PointXYZ dir_to_center_</div><div class="ttdoc">Expected direction to center.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:328</div></div>
<div class="ttc" id="astructpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_visual_word_stat_html_a148a3fe65d6c71bcc4474a51b26529e5"><div class="ttname"><a href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_visual_word_stat.html#a148a3fe65d6c71bcc4474a51b26529e5">pcl::ism::ImplicitShapeModelEstimation::VisualWordStat::learned_weight_</a></div><div class="ttdeci">float learned_weight_</div><div class="ttdoc">Weight of the vote.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:325</div></div>
<div class="ttc" id="astructpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_visual_word_stat_html_a2c67cb9635d983587a8800d48b68dffe"><div class="ttname"><a href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_visual_word_stat.html#a2c67cb9635d983587a8800d48b68dffe">pcl::ism::ImplicitShapeModelEstimation::VisualWordStat::VisualWordStat</a></div><div class="ttdeci">VisualWordStat()</div><div class="ttdoc">Empty constructor with member variables initialization.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:316</div></div>
<div class="ttc" id="astructpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_visual_word_stat_html_a948064bbb5f3470bee396db267f5fbbe"><div class="ttname"><a href="structpcl_1_1ism_1_1_implicit_shape_model_estimation_1_1_visual_word_stat.html#a948064bbb5f3470bee396db267f5fbbe">pcl::ism::ImplicitShapeModelEstimation::VisualWordStat::class_</a></div><div class="ttdeci">int class_</div><div class="ttdoc">Which class this vote belongs.</div><div class="ttdef"><b>Definition:</b> implicit_shape_model.h:319</div></div>
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